maingate is 100% correct
tyres should be run at the correct pressure for the load they carry
so first you ascertain the load , then you set the tyre pressure according to the recommendations of the ETRTO
at a guess we are talking of 215R70 15 109/107 load index here
this tyre is capable of carrying 1030Kg in single formation , 2060Kg per axle
if you are running your 3,500Kg vehicle at 2,060Kg per axle 5.5 bar is the correct pressure on rear driven axles , 4.75 bar otherwise ; I trust you are not running at these weights !
I run my vehicle on this size tyre at 1500Kg front axle , and 1900Kg rear axle , and for this I use 4.5 bar and 5.0 bar respectively , apparently high on the front because I prefer this on driven wheels , and a little extra on the rear in case I make an error in loading
unfortunately a large percentage of motorhomes in europe are overloaded , and consequently there have been failures which people blamed on the tyre manufacturers ; there now seems to be an undisclosed agreement between the manufacturers that for a motorhome they will always quote the maximum pressure of which the tyre is capable and this protects their commercial interests ; at the same time the ETRTO have withdrawn their load/pressure charts , a copyright document , from the public domain ; they also try to persuade vehicle manufacturers to fit larger tyres than are needed , in case of excess [ and illegal ] loading
however here is a link giving the information you need
http://www.motorcaravanning.com/tyresafe_mh_tyres_08.pdf
there is a member on this forum who was involved in a fatal accident , fortunately he was not to blame and his vehicle was found to be correct in all respects when examined
if you do not know your axle weights how can you be sure you are in the same position ; excessive tyre pressures are dangerous just like low pressures